Journal of Majlesi Journal of Mechatronic Systems
Volume:1 Issue: 2, Jun 2012

The Nitinol alloy is considered as an outcome of the modern engineering and because of its great mechanical properties and memorizing capability is at the service of some advanced technologies, such as the medicine, robotics, army, etc. This article reviews and controls the drilling operation of the Nitinol alloy with Fuzzy logic methods. The machining conditions of the alloy are regarded as far as possible, and the Fuzzy logic was comprehensively and consecutively considered regarding the drilling main parameters. The tool diameter and cutting depth were experimented from 1 to 30, and 0.25 to 3 mm, respectively. The cutting speed was set on 20-50m/min and the spindle speed was classified on 20-6000 rpm. Of all the influential parameters, the temperature was considered and the results were revealed based on the mechanical properties of the alloy and the technological advancements.

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking controllers. The goal is improving the accuracy of tracking procedure for a robot manipulator to track a specified reference signal in the presence of constant bounded disturbances. Inverse dynamics controller, improved Lyapunov-based controller with integral action and discontinuous Lyapunov-based controller are three schemes that are evaluated in this paper. Third one is a novel controller that achieves trajectory following without requiring exact knowledge of the nonlinear dynamics. Based on the disturbance rejection scheme, tracking controllers are constructed which are asymptotically stabilizing in the sense of Lyapunov. Furthermore the closed loop system has strong disturbance rejection property. It is shown that how under proper assumptions, the proposed schemes succeed in achieving disturbance rejection at the input of a nonlinear system.Computer simulation results given for a two degree of freedom manipulator with a large payload and fast maneuver, demonstrate that accurate trajectory tracking can be achieved by using the proposed controllers.

This article describes the design and construction of simple encoding that could perform rotary motion around an symmetry axis.The rotating drum for each 20 degree with a pair of black line is the line to help to identify this infrared reagents is achieved.Single-phase program to encompass the all kinds of sensors placed a digital reading of (0 -1) bit numbers in a logical and original software (Code vision)Written in C that upon crossing the black line by the first sensor out put voltage from the other sensors to be read and stored a Number in base 2.Read each passage through the black line with the previous number (Known variable 1) is compared and if the first variable is Equal to the angle of second variable does not change.But if the first variable of the second variable is smaller for the positive angle and a variable number of integer variables the second is further To be a negative angle.

In this paper ant colony algorithm as an approach based on collective intelligence is modified in combination with genetic algorithm and will be used for topology optimization of 2D continuous environments. This approach is inspired by the exploratory behavior of ants in finding the shortest path between their nest and food source. To increase the diversity in optimization and finding new solutions, a crossover operator based on pheromone is used. The defined performance index evaluates the optimization process. In this regard the finite element model is employed as an analytical tool in optimization process. The aim of optimizing continuous domain is to find the optimal design with minimum weight and maximum stiffness. To demonstrate the integrity and efficiency of the proposed method, numerical examples are presented and the results will be discussed.

The compressor system with gas turbine is widely used in chemical processes, The control of high pressure steam flow rate is an Important goal in this system. This paper introduced the system completely and then the PID controller used to control system. Because of no reasonable performance of the system, the fuzzy controller is proposed and the parameters of this controller will be set with imperialist competitive algorithm. The performance of the fuzzy controller is illustrated through a simulation example and compared with PID controller designs.

Robotics has use as a definition in researches during the past decades and so far high growth has been in different fields. The main reason for the growth of robotics is due to advancements in their hardware. With all the hardware advancements, autonomous mobile robots have become a very important topic. Since the number of applications for autonomous robots is continuing to grow, complex physical components and sensors are used in the design of mobile robots to require a large amount of money. This paper examines how to map the surrounding environment in a building using fuzzy logic and low-cost robots that has designed with two sensors. In this paper, a fuzzy inference system is developed which examines a small local area and continuously assemblies a global map of the environment. We have classified nine probable relative local locations and through a random exploration of the environment a complete global map is created. This map is a graphical representation that can easily be used by a human observer.In the future, we also consider that use a combination of neural network and fuzzy logic to create an Adaptive Neuro-Fuzzy Inference System (ANFIS).

This paper presents an Adaptive Fuzzy Logic modeling and control (AFLC) of the nonlinear system associated with uncertainty, and also the Feedback Linearization method, to control proposed dynamic. In fuzzy method to estimate the uncertain part of the system, fuzzy logic systems are used. To speed up the learning of fuzzy systems with in-line or off-line of proposed algorithm, and also for reducing the error of the system against the unwanted changes and variation of the inputs parameters, Recursive Least Square Estimation (RLSE) method is used.To comparing the robustness of the system against the changing of the parameter the Feedback Linearization (FBL) method is also used for controlling the proposed dynamic.The effectiveness of our approach in recursive least square method and also the feedback linearization strategy of control are surveys on Prismatic-Revolute (P-R) manipulator, with uncertainty in its inputs.